公开(公告)号：US20250133337A1

公开(公告)日：2025-04-24

申请号：US18911197

申请日：2024-10-09

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZEHONG ZHENG ,  Dongyan Huang ,  Xianjie Yang ,  Wan Ding

IPC: H04R1/40

Abstract: A sound source localization method includes: obtaining a first audio frame and at least two second audio frames, wherein the first audio frame and the at least two second audio frames are synchronously sampled, the first audio frame is obtained by processing sound signals collected by the first microphone, the at least two second audio frames are obtained by processing sound signals collected by the second microphones; calculating a time delay estimation between the first audio frame and each of the at least two second audio frames; and determining a sound source orientation corresponding to the first audio frame and the at least two second audio frames through a preset time delay-orientation lookup table according to the time delay estimation between the first audio frame and each of the at least two second audio frames.

公开(公告)号：US12280510B2

公开(公告)日：2025-04-22

申请号：US17678037

申请日：2022-02-23

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Youjun Xiong ,  Yizhang Liu ,  Qiuyue Luo ,  Ligang Ge ,  Jie Bai ,  Jiangchen Zhou

IPC: B62D57/00 ,  B25J9/16 ,  B62D57/032

Abstract: A biped robot control methods and a biped robot using the same as well as a computer readable storage medium are provided. The method includes: obtaining an initial distance between a centroid of a double inverted pendulum model of the biped robot and a support point of the biped robot, an initial moving speed of the centroid and an initial displacement of the centroid; calculating a measured value of a stable point of the doable inverted pendulum model based on the initial distance and the initial moving speed; calculating a control output quantity based on the initial moving speed and the measured value of the stable point; calculating a desired displacement of the centroid of the double-inverted pendulum model based on the initial moving speed, the initial displacement, and the control output quantity; and controlling the biped robot to move laterally according to the desired displacement.

公开(公告)号：US20250124557A1

公开(公告)日：2025-04-17

申请号：US18805567

申请日：2024-08-15

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： XILAI SONG ,  Pei Dong ,  Jianxin Pang

IPC: G06T7/00 ,  G06T5/40

Abstract: An image quality assessing method, an electronic device, and a computer-readable storage medium are provided. The method includes: obtaining a to-be-assessed original image; obtaining a grayscale image and a histogram equalization image corresponding to the obtained original image by performing an image conversion on the original image; calculating an image similarity between the obtained grayscale image and the obtained histogram equalization image; and determining an image quality assessment result of the original image according to the calculated image similarity. Through the forgoing method, the original image can be converted to obtain the corresponding grayscale image and histogram equalization image, and the image quality assessment result of the original image can be determined according to the image similarity between the grayscale image and the histogram equalization image, which does not involve statistics and calculations of multiple feature indicators, and is helpful to improve the efficiency of the image quality assessment method.

公开(公告)号：US20250113963A1

公开(公告)日：2025-04-10

申请号：US18888209

申请日：2024-09-18

Applicant: Best Epoch Technology Co., LTD ,  UBTECH ROBOTICS CORP LTD

Inventor： MENG LI ,  Xiangbin Huang

IPC: A47L11/40 ,  G01C21/32

Abstract: A method for area dividing in a map for a mobile robot includes: obtaining a target binary map of a target area; obtaining a first area map and a second area map according to the target binary map; obtaining a target area-dividing map of the target area according to the first area map and the second area map; and controlling the mobile robot according to the target area-dividing map.

公开(公告)号：US20250072691A1

公开(公告)日：2025-03-06

申请号：US18911202

申请日：2024-10-09

Applicant: Best Epoch Technology Co., LTD ,  UBTECH ROBOTICS CORP LTD

Inventor： MENG LI ,  Xiangbin Huang ,  Liuchen Yang ,  Gaobo Huang

IPC: A47L11/40 ,  G01C21/00

Abstract: A method for docking a cleaning robot includes: obtaining a map of a scene where the cleaning robot is located, and a position of the cleaning robot in the map; determining a map contour where the position of the cleaning robot is located according to the map; determining a plurality of traversal points for searching for a charging station and a plurality of traversal areas corresponding to the plurality of traversal points according to the map contour; and searching for the charging station in the traversal areas corresponding to the traversal points according to a predetermined search order, until the charging station is found in the traversal areas, or the traversal areas corresponding to all of the traversal points have been searched.

公开(公告)号：US12202131B2

公开(公告)日：2025-01-21

申请号：US18588055

申请日：2024-02-27

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Zhongkui Huang ,  Hongyu Ding ,  Xuchao Du ,  Zheng Xie ,  Wenhua Fan

IPC: B25J17/02

Abstract: A bidirectional energy storage device for a joint includes: a sleeve comprising two, opposite open ends; a first sliding member and a second sliding member that are slidably disposed at the open ends of the sleeve, respectively; an elastic member comprising two, opposite ends that are respectively in contact with the first sliding member and the second sliding member; a first telescopic link comprising a first end and an opposite, second end, the first end of the first telescopic link pivotally connected to the first sliding member, the first telescopic link configured to rotate to drive the first sliding member to slide; a second telescopic link comprising a first end and an opposite, second end, the first end of the second telescopic link pivotally connected to the second sliding member, the second telescopic link configured to rotate to drive the second sliding member to slide.

公开(公告)号：US12138803B2

公开(公告)日：2024-11-12

申请号：US18089588

申请日：2022-12-28

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Chunyu Chen ,  Yizhang Liu ,  Ligang Ge ,  Jie Bai ,  Jiangchen Zhou ,  Qiuyue Luo ,  Youjun Xiong

IPC: B25J9/16 ,  B25J13/08 ,  B62D57/032

Abstract: A method for controlling a legged robot includes: in response to detection of a collision event associated with a foot of a swing leg of the biped robot, terminating a trajectory component planning of the swing leg in a collision direction; calculating a position offset in the collision direction according to an external force that is received by the foot of the swing leg in the collision direction and obtained in real time, based on a foot dragging control mode, and determining a replanned trajectory component in the collision direction based on the position offset; and controlling the swing leg to move based on the replanned trajectory component in the collision direction and a desired trajectory component of the swing leg in a non-collision direction.

公开(公告)号：US12134194B2

公开(公告)日：2024-11-05

申请号：US17710949

申请日：2022-03-31

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Yan Xie ,  Youjun Xiong

IPC: B25J9/16 ,  B62D57/032

Abstract: A robot balance control method, a controller, and a computer readable storage medium are provided. The method includes: obtaining a desired motion trajectory matching a current motion status by performing a parameter adaptation adjustment on a current planned motion trajectory; determining, according to the motion status, a desired state parameter of each of soles, a centroid, and a waist of a humanoid robot for conforming to the desired motion trajectory; calculating, based on the motion status and the desired state parameter of each of the soles, the centroid, and the waist of the humanoid robot, a desired driving parameter of the humanoid robot for simultaneously meeting a robot dynamics requirement, a sole control requirement, a centroid control requirement, a waist control requirement, and force control parameter distribution constraint(s) at the current moment; and controlling, based on the desired driving parameter, a movement of the humanoid robot.

公开(公告)号：US12094084B2

公开(公告)日：2024-09-17

申请号：US17388043

申请日：2021-07-29

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Bin Sun ,  Mingguo Zhao ,  Youjun Xiong

IPC: G06T5/20 ,  G06F7/24 ,  G06T5/50

CPC classification number: G06T5/20 ,  G06F7/24 ,  G06T5/50 ,  G06T2207/20021 ,  G06T2207/20221

Abstract: Image processing methods are provided. One of the method includes: obtaining a to-be-processed multi-channel feature maps; obtaining multi-channel first output feature maps and multi-channel second output feature maps by processing the multi-channel feature maps through a parallel pointwise convolution and non-pointwise operation, where the non-pointwise convolution is for descripting a spatial feature of each channel and an information exchange between the feature maps; and fusing the multi-channel first output feature maps and the multi-channel second output feature maps to obtain a multi-channel third output feature map.

公开(公告)号：US12093054B2

公开(公告)日：2024-09-17

申请号：US17239603

申请日：2021-04-25

Applicant: UBTECH NORTH AMERICA RESEARCH AND DEVELOPMENT CENTER CORP ,  UBTECH ROBOTICS CORP LTD

Inventor： Dejun Guo ,  Ting-Shuo Chou ,  Yang Shen ,  Huan Tan

IPC: G05D1/00 ,  G01S17/89 ,  G06N3/08 ,  G06V40/10 ,  G06V40/16

CPC classification number: G05D1/0253 ,  G01S17/89 ,  G05D1/12 ,  G06N3/08 ,  G06V40/103 ,  G06V40/172

Abstract: A moving target following method, which is executed by one or more processors of a robot that includes a camera and a sensor electrically coupled to the one or more processors, includes: performing a body detection to a body of a target based on images acquired by the camera to obtain a body detection result; performing a leg detection to legs of the target based on data acquired by die sensor to obtain a leg detection result; and fusing the body detection result and the leg detection result to obtain a fusion result, and controlling the robot to follow the target based on the fusion result.